Fundamental investigation into shared control methodologies in robotic applications

本建议的目的是调查的基本问题，涉及共享控制器的设计和实施及其可能的应用领域的虚拟培训环境的外科和生物科学，和远程控制的机器人系统和力反馈（触觉）设备的设计。虚拟训练环境由基于力学原理、图形渲染和触觉用户界面的设计组成。训练方法之一是向用户提供虚拟部队指导（虚拟指导）。这里的目标是探索在约束计算力学的有效建模和稳定性分析的方法，这样的虚拟指导（例如，打一个结）或约束运动的用户。一种新的共享监测/控制方案，通过互联网的远程操作将开发远程手术。这里，预期的位置和力可以被定义为移动的约束表面，然后可以使用例如顺序蒙特卡罗方案来估计该移动的约束表面。这种方案已成功地应用于视觉跟踪的对象时，对象可以在其轨迹被遮挡。在该提议中，到从设备的预期前馈运动和到主触觉设备的返回反馈力可以被配置在移动共享控制表面中，其中尽管有短的断电和/或变化的时间延迟，仍然可以实现鲁棒的性能。用于设计触觉设备的常规方法是将开放或闭合的运动链与阻抗设备形式的高带宽致动机构对接。一种新颖的设计概念是将驱动源与中间柔顺机构相结合，该中间柔顺机构可以沿着单自由度产生一类低带宽触觉反馈。与仅利用高扭矩致动器相比，这种主动机构可以提供用于设计用于各种应用（例如，显微外科手术）的触觉装置的替代且经济的方法。用于在机电配置内组合顺应性膜的形状和尺寸以沿着沿着许多自由度产生触觉反馈的可能方法是主要的设计挑战。

The objective of this proposal is to investigate the fundamental issues involved in the design and implementation of shared controllers and their possible application areas of virtual training environments for surgical and biological sciences, and remote control of robotic systems and design of force feedback (haptic) devices. A virtual training environment consists of a design based on the principles of mechanics, graphics rendering and haptic user interface. One of the training approaches is to provide virtual force guidance (virtual mentoring) to the user. The objective here is to explore methods in constrained computational mechanics for effective modeling and stability analysis of such virtual guidance (e.g. to tie a knot) or constrained motions for the user. A novel shared monitoring/control scheme for the tele-manipulation over the internet will be developed for tele-surgery. Here, the expected position and force can be defined as moving constrained surfaces which can then be estimated using for example a sequential Monte Carlo scheme. Such scheme has been successfully applied to visual tracking of objects when the object can get occluded during its trajectory. In this proposal, the expected feed-forward motion to the slave device and the return feedback force to the master haptic device can be configured in a moving shared control surfaces where despite short black-outs and/or varying time delays, still a robust performance can be accomplished. A conventional approach for designing a haptic device is to interface an open or closed kinematic chain with a high bandwidth actuation mechanism in a form of an impedance device. A novel design concept is to combine an actuating source with an intermediate compliant mechanism which can create a class of low bandwidth haptic feedback along a single degree of freedom. In comparison to utilizing high torque actuators only, such active mechanism can offer an alternative and economical approach for designing a haptic device for various applications (e.g. micro-surgery). Possible approaches for combining the shape and size of the compliant membranes within the electromechanical configuration for creating haptic feedback along many degrees of freedom are the main design challenges.